/*
 * NxPSDetectObstacles.java
 *
 * Created on 12 de noviembre de 2007, 06:59 AM
 *
 * To change this template, choose Tools | Template Manager
 * and open the template in the editor.
 */

package Behaviors.Schemas.Perception;

import Behaviors.Schemas.Behavior;
import Utils.*;

/**
 *
 * @author alejo
 */
public abstract class NxPSDetectObstacles extends Behavior {
    
    /**
     * Creates a new instance of NxPSDetectObstacles
     */

    float maxRange;
    float minRange;
    float obstSize;

    /**
    * Number of readings of the sensor
    */
    int numReadings;

    /**
     * Angular position of each reading
     */
    double [] poseAngles;

    /**
     * Output of this Perception Behavior (PS).
     */
    Vector2d[] data;

    public NxPSDetectObstacles(String name) {
        super(name);
        //Rango en el cual se considera que los obstaculos todavia existen.
        maxRange = 2.0f;
        obstSize = 0.05f;
    }

    public float getMaxRange()
    {
        return maxRange;
    }

    public void setMaxRange(float range)
    {
        this.maxRange = range;
    }

    public float getMinRange()
    {
        return minRange;
    }

    public void setMinRange(float range)
    {
        this.minRange = range;
    }


    public float getObstSize()
    {
        return obstSize;
    }

    public void setObstSize(float obstsize)
    {
        this.obstSize = obstsize;
    }

    public abstract Vector2d[] Value();
    
}
